version: 66.03
glider: 120
mission: 9
dive: 180
start: 11 3 108 20 53 42
data:
$ID,120
$MISSION,9
$DIVE,180
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21423.363
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,204708,5009.471,-14511.677,30,1.5,30,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-72.0
$GPS2,205248,5009.537,-14511.644,21,1.5,22,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.031,-0.175
$KALMAN_X,45714.0,-139.9,-7.3,-71610.8,1167.7
$KALMAN_Y,139242.8,306.9,99.7,-132268.7,1579.5
$MHEAD_RNG_PITCHd_Wd,171.6,28755,-12.0,-5.000
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,44,0.00,0.00,-22.17,0.000,2,0.000,0.000,138,2407,2193
$GC,47,-0.67,-117.3,3.1,-4.3,2,105,13.88,2.42,-38.58,0.000,4,0.286,0.091,3086,3810,3354
$GC,285,-0.35,-117.3,32.7,-13.9,23,291,0.40,2.30,0.00,0.000,6,0.158,0.054,3199,2389,3356
$GC,610,-0.42,-117.3,56.9,-7.5,53,614,0.00,2.30,0.00,0.000,4,0.000,0.067,3200,992,3357
$GC,650,-0.52,-117.3,59.9,-7.8,56,655,0.15,2.33,0.00,0.000,6,0.079,0.059,3141,2414,3357
$GC,985,-0.52,-117.3,83.5,-6.9,85,989,0.00,2.35,0.00,0.000,4,0.000,0.067,3141,992,3358
$GC,1016,-0.52,-117.3,86.1,-7.8,86,1024,0.00,2.33,0.00,0.000,6,0.000,0.059,3141,2397,3359
$GC,1333,-0.47,-117.3,112.5,-8.9,102,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2397,3360
$GC,1642,-0.47,-117.3,138.9,-8.1,117,1646,0.00,2.38,0.00,0.000,4,0.000,0.078,3141,3809,3360
$GC,1696,-0.47,-117.3,143.4,-8.1,119,1703,0.00,2.28,0.00,0.000,6,0.000,0.054,3141,2400,3359
$GC,2021,-0.67,-117.3,164.8,-6.0,132,2025,0.12,2.30,0.00,0.000,4,0.091,0.068,3096,991,3359
$GC,2148,-0.67,-117.3,173.0,-6.8,135,2155,0.00,2.33,0.00,0.000,6,0.000,0.061,3096,2404,3359
$GC,2461,-0.78,-117.3,196.1,-8.1,146,2465,0.00,2.35,0.00,0.000,4,0.000,0.069,3096,985,3359
$GC,2549,-0.78,-117.3,204.1,-9.1,148,2556,0.00,2.33,0.00,0.000,6,0.000,0.061,3096,2395,3359
$GC,2862,-0.90,-117.3,231.1,-8.4,159,2867,0.17,2.35,0.00,0.000,4,0.086,0.078,3024,3807,3359
$GC,3120,-0.58,-117.3,260.1,-11.3,166,3127,0.38,2.25,0.00,0.000,6,0.168,0.058,3129,2399,3358
$GC,3432,-0.58,-117.3,278.8,-5.6,177,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2399,3358
$GC,3738,-0.58,-117.3,294.7,-5.2,187,3742,0.00,2.33,0.00,0.000,4,0.000,0.071,3129,984,3357
$GC,3771,-0.58,-117.3,296.6,-5.9,188,3775,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2399,3357
$GC,4109,-0.58,-117.3,314.6,-5.4,195,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3357
$GC,4412,-0.58,-117.3,331.0,-5.4,200,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3357
$GC,4715,-0.58,-117.3,346.8,-5.2,205,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3356
$GC,5018,-0.58,-117.3,362.6,-5.2,210,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3356
$GC,5321,-0.58,-117.3,379.5,-5.6,215,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3356
$GC,5625,-0.58,-117.3,397.5,-6.0,220,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3355
$GC,5927,-0.58,-117.3,417.1,-6.6,225,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3355
$GC,6230,-0.58,-117.3,437.7,-6.9,230,6235,0.00,2.35,0.00,0.000,4,0.000,0.073,3128,990,3355
$GC,6263,-0.63,-117.3,440.1,-7.0,230,6267,0.00,2.35,0.00,0.000,6,0.000,0.064,3128,2408,3355
$GC,6596,-0.67,-117.3,460.6,-6.1,236,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2408,3355
$GC,6899,-0.72,-117.3,478.0,-5.7,241,6903,0.12,2.38,0.00,0.000,4,0.092,0.073,3079,985,3354
$GC,6931,-0.64,-117.3,480.3,-7.2,241,6936,0.08,2.35,0.00,0.000,6,0.156,0.065,3111,2404,3354
$GC,7263,-0.64,-117.3,499.5,-5.7,247,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3354
$GC,7566,-0.64,-117.3,516.1,-5.5,252,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2404,3354
$GC,7869,-0.64,-117.3,532.3,-5.3,257,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2404,3354
$GC,8172,-0.64,-117.3,548.2,-5.3,262,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2404,3354
$GC,8475,-0.64,-117.3,563.9,-5.2,267,8479,0.00,2.35,0.00,0.000,4,0.000,0.074,3111,993,3353
$GC,8524,-0.64,-117.3,566.7,-5.5,267,8528,0.00,2.30,0.00,0.000,6,0.000,0.065,3111,2401,3353
$GC,8838,-0.64,-117.3,582.5,-5.1,273,8843,0.00,2.35,0.00,0.000,4,0.000,0.084,3111,3810,3353
$GC,8866,-0.64,-117.3,583.9,-5.1,273,8871,0.00,2.28,0.00,0.000,6,0.000,0.059,3111,2389,3353
$GC,9198,-0.64,-117.3,602.4,-5.7,279,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3353
$GC,9501,-0.64,-117.3,621.4,-6.4,284,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3353
$GC,9804,-0.64,-117.3,640.9,-6.4,289,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3353
$GC,10107,-0.64,-117.3,659.8,-6.2,294,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3352
$GC,10410,-0.64,-117.3,678.6,-6.2,299,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3352
$GC,10713,-0.64,-117.3,697.4,-6.1,304,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3352
$GC,11017,-0.64,-117.3,714.8,-5.7,309,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3352
$GC,11319,-0.64,-117.3,730.6,-5.2,314,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3352
$GC,11622,-0.64,-117.3,746.0,-5.1,319,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2389,3352
$GC,11926,-0.64,-117.3,760.2,-4.6,324,11930,0.00,2.45,0.00,0.000,4,0.000,0.085,3111,3811,3351
$GC,11954,-0.69,-117.3,761.7,-5.5,324,11958,0.00,2.28,0.00,0.000,6,0.000,0.060,3110,2398,3351
$GC,12291,-0.89,-117.3,779.2,-5.5,330,12296,0.20,2.42,0.00,0.000,4,0.091,0.084,3033,3816,3351
$GC,12549,-0.70,-117.3,798.6,-7.7,333,12556,0.20,2.28,0.00,0.000,6,0.167,0.061,3085,2396,3351
$GC,12860,-0.65,-117.3,816.1,-5.6,339,12861,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3351
$GC,13161,-0.65,-117.3,833.7,-5.9,344,13162,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3351
$GC,13464,-0.61,-117.3,852.3,-6.1,349,13466,0.12,0.00,0.00,0.000,6,0.175,0.000,3119,2396,3351
$GC,13768,-0.68,-117.3,868.0,-5.2,354,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2396,3351
$GC,14071,-0.76,-117.3,884.1,-5.3,359,14072,0.15,0.00,0.00,0.000,6,0.087,0.000,3064,2396,3350
$GC,14373,-0.76,-117.3,902.8,-6.2,364,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2396,3350
$GC,14677,-0.76,-117.3,921.0,-6.0,369,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2396,3350
$GC,14980,-0.76,-117.3,939.4,-6.1,374,14984,0.00,2.42,0.00,0.000,4,0.000,0.086,3064,3809,3350
$GC,15006,-0.70,-117.3,941.1,-6.7,374,15010,0.00,2.28,0.00,0.000,6,0.000,0.061,3063,2402,3350
$GC,15344,-0.65,-117.3,962.3,-6.3,380,15346,0.15,0.00,0.00,0.000,6,0.135,0.000,3105,2399,3350
$GC,15647,-0.69,-117.3,978.7,-5.4,385,15648,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2399,3350
$STATE,15887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15887,begin apogee
$GC,15892,-0.22,0.0,991.4,5.2,389,15997,0.45,0.00,102.53,1.501,6,0.143,0.000,3243,2193,2876
$STATE,15998,end apogee,CONTROL_FINISHED_OK
$STATE,15998,begin climb
$GC,16000,0.67,117.3,993.1,0.0,390,16112,0.85,0.00,107.35,1.453,6,0.091,0.000,3527,2192,2396
$GC,16422,0.32,117.3,970.1,8.5,397,16425,0.40,0.00,0.00,0.000,6,0.181,0.000,3423,2192,2393
$GC,16726,0.26,117.3,953.3,5.4,402,16730,0.00,2.42,0.00,0.000,4,0.000,0.081,3429,788,2393
$GC,16765,0.20,117.3,951.0,6.1,402,16770,0.17,2.38,0.00,0.000,6,0.172,0.064,3384,2208,2392
$GC,17086,0.30,142.3,937.1,4.3,408,17115,0.00,2.45,22.12,1.410,4,0.000,0.081,3383,3609,2295
$GC,17137,0.30,142.3,934.5,5.2,408,17141,0.00,2.40,0.00,0.000,6,0.000,0.065,3383,2196,2294
$GC,17453,0.41,154.1,919.9,4.7,414,17467,0.20,0.00,11.73,1.329,6,0.085,0.000,3457,2196,2247
$GC,17756,0.31,154.1,899.4,6.9,419,17758,0.15,0.00,0.00,0.000,6,0.158,0.000,3419,2196,2246
$GC,18059,0.31,154.1,882.3,5.6,424,18063,0.00,2.40,0.00,0.000,4,0.000,0.082,3425,794,2246
$GC,18090,0.31,154.1,880.3,5.1,424,18095,0.00,2.35,0.00,0.000,6,0.000,0.064,3425,2202,2246
$GC,18422,0.31,154.1,861.4,5.7,430,18424,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2245
$GC,18726,0.31,154.1,844.4,5.6,435,18727,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2245
$GC,19029,0.31,154.1,826.8,5.9,440,19030,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2245
$GC,19332,0.31,154.1,808.7,5.9,445,19333,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2245
$GC,19635,0.31,154.1,790.7,6.0,450,19636,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2244
$GC,19938,0.31,154.1,773.1,5.7,455,19942,0.00,2.40,0.00,0.000,4,0.000,0.082,3425,799,2244
$GC,19982,0.31,154.1,770.6,5.5,455,19986,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2208,2244
$GC,20303,0.31,154.1,753.5,5.3,461,20304,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2208,2244
$GC,20606,0.31,154.1,738.1,5.1,466,20607,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2208,2244
$GC,20909,0.31,154.1,722.4,5.2,471,20910,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2208,2244
$GC,21212,0.31,154.1,706.6,5.2,476,21214,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2209,2244
$GC,21515,0.31,154.1,690.6,5.3,481,21516,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2208,2244
$GC,21818,0.31,154.1,674.1,5.5,486,21819,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2208,2244
$GC,22121,0.31,154.1,657.6,5.4,491,22125,0.00,2.40,0.00,0.000,4,0.000,0.081,3425,796,2244
$GC,22161,0.31,154.1,655.5,5.3,491,22165,0.00,2.33,0.00,0.000,6,0.000,0.065,3425,2211,2244
$GC,22482,0.31,159.8,639.8,4.8,497,22490,0.00,0.00,6.20,1.054,6,0.000,0.000,3425,2211,2224
$GC,22784,0.33,170.5,625.7,4.7,502,22797,0.00,0.00,10.80,1.180,6,0.000,0.000,3425,2210,2179
$GC,23087,0.34,177.6,611.2,4.8,507,23097,0.00,0.00,7.72,1.104,6,0.000,0.000,3425,2210,2151
$GC,23390,0.34,177.6,595.0,5.4,512,23395,0.00,2.38,0.00,0.000,4,0.000,0.082,3425,3609,2150
$GC,23423,0.34,177.6,592.6,7.3,512,23427,0.00,2.35,0.00,0.000,6,0.000,0.065,3425,2203,2150
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$STATE,33016,end climb,SURFACE_DEPTH_REACHED
$STATE,33016,begin surface coast
$FINISH,1.5,1.011751
$STATE,33135,end surface coast,CONTROL_FINISHED_OK
$STATE,33135,begin surface
$SM_CCo,33153,30.58,0.839,0,0,1653,300.00
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$TT8_MAMPS,0.026845
$HUMID,2138
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$TCM_TEMP,15.00
$XPDR_PINGS,1014
$24V_AH,22.3,37.502
$10V_AH,10.6,24.007
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$DEVICE_SECS,29.025,174.500,339.325,30.575,0.000,29.158,24.985,162.714,253.500,0.000,0.000,22.143,1806.525,28327.734,533.345,2343.652,505.016,33.372,1668.419,0.000,2317.283,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,660.142,643.864,1463.464,885.810,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50541,861
$CAP_FILE_SIZE,178265,0
$CFSIZE,260165632,244658176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
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